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bug:brake 搞反了应该1的

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lyq 2025-12-04 14:59:04 +08:00
parent fdde0c6e24
commit 9e7ae8f7fd
1 changed files with 3 additions and 3 deletions
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6
src/fu/src/fu_node.cpp
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@ -210,7 +210,7 @@ private:
int calculateSafeDistance(int speed) const int calculateSafeDistance(int speed) const
{ {
// 基于速度计算安全距离：速度越快，需要的距离越远 // 基于速度计算安全距离：速度越快，需要的距离越远
return std::max(3, speed / 10 + 2); // 最少3格，速度30时为5格 return std::max(3, speed / 400 + 2); // 最少3格，速度1500时为5格
} }
// 评估绕障可行性 // 评估绕障可行性
@ -790,8 +790,8 @@ private:
// 发布控制指令 // 发布控制指令
sweeper_interfaces::msg::McCtrl message; sweeper_interfaces::msg::McCtrl message;
message.sweep = false; message.sweep = true;
message.brake = 1; // 0开;1关 message.brake = 0; // 0开;1关
message.gear = 2; // 0空挡;1后退;2前进 message.gear = 2; // 0空挡;1后退;2前进
if (reliability == 1) if (reliability == 1)